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Stretch Navigation Tuning #120

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hello-binit
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TODO

hello-binit
hello-binit commented Oct 14, 2023
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stretch_core/launch/stretch_scan_matcher.launch Outdated

<param name="max_iterations" value="10"/>
<!--<param name="fixed_frame" value="map"/>-->
<param name="fixed_frame" value="odom"/>
<param name="fixed_frame" value="map"/>
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@hello-vinitha I would expect Lidar odometry to publish w.r.t. the odom frame since it experiences drift, right? Here's the REP on odom/map frames: https://www.ros.org/reps/rep-0105.html#odom

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@hello-binit yes, you're correct. I pushed a commit where I reverted the change.

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